/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

using System.Collections.Generic;
using System.Text.Json.Serialization;
using CartographerSharp.Models.Transform;

namespace CartographerSharp.Models.Mapping;

/// <summary>
/// Active area of the submap.
/// </summary>
public struct ActiveArea
{
    [JsonPropertyName("min_x")]
    public double MinX { get; set; }

    [JsonPropertyName("min_y")]
    public double MinY { get; set; }

    [JsonPropertyName("max_x")]
    public double MaxX { get; set; }

    [JsonPropertyName("max_y")]
    public double MaxY { get; set; }

    [JsonPropertyName("origin")]
    public Rigid3dProto Origin { get; set; }

    public ActiveArea(double minX, double minY, double maxX, double maxY, Rigid3dProto origin)
    {
        MinX = minX;
        MinY = minY;
        MaxX = maxX;
        MaxY = maxY;
        Origin = origin;
    }
}

/// <summary>
/// Serialized state of a Submap2D.
/// </summary>
public struct Submap2D
{
    [JsonPropertyName("local_pose")]
    public Rigid3dProto LocalPose { get; set; }

    [JsonPropertyName("num_range_data")]
    public int NumRangeData { get; set; }

    [JsonPropertyName("finished")]
    public bool Finished { get; set; }

    [JsonPropertyName("grid")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public Grid2D? Grid { get; set; }

    [JsonPropertyName("active_area")]
    [JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
    public ActiveArea? ActiveArea { get; set; }

    [JsonPropertyName("merged_from_others")]
    public bool MergedFromOthers { get; set; }

    public Submap2D(
        Rigid3dProto localPose,
        int numRangeData,
        bool finished,
        Grid2D? grid = null,
        ActiveArea? activeArea = null,
        bool mergedFromOthers = false)
    {
        LocalPose = localPose;
        NumRangeData = numRangeData;
        Finished = finished;
        Grid = grid;
        ActiveArea = activeArea;
        MergedFromOthers = mergedFromOthers;
    }
}

/// <summary>
/// Serialized state of a Submap3D.
/// </summary>
public struct Submap3D
{
    [JsonPropertyName("local_pose")]
    public Rigid3dProto LocalPose { get; set; }

    [JsonPropertyName("num_range_data")]
    public int NumRangeData { get; set; }

    [JsonPropertyName("finished")]
    public bool Finished { get; set; }

    [JsonPropertyName("high_resolution_hybrid_grid")]
    public HybridGrid HighResolutionHybridGrid { get; set; }

    [JsonPropertyName("low_resolution_hybrid_grid")]
    public HybridGrid LowResolutionHybridGrid { get; set; }

    [JsonPropertyName("rotational_scan_matcher_histogram")]
    public List<double> RotationalScanMatcherHistogram { get; set; }

    public Submap3D(
        Rigid3dProto localPose,
        int numRangeData,
        bool finished,
        HybridGrid highResolutionHybridGrid,
        HybridGrid lowResolutionHybridGrid,
        List<double>? rotationalScanMatcherHistogram = null)
    {
        LocalPose = localPose;
        NumRangeData = numRangeData;
        Finished = finished;
        HighResolutionHybridGrid = highResolutionHybridGrid;
        LowResolutionHybridGrid = lowResolutionHybridGrid;
        RotationalScanMatcherHistogram = rotationalScanMatcherHistogram ?? new List<double>();
    }
}